Add asset desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11

.gitattributes

@@ -6394,4 +6394,4 @@ dataset/desktop_supplies/office_stationery/8353c5dfb7ce575593c108dce00bbf8a/affo
 dataset/desktop_supplies/office_stationery/8412916f3ae6508cbd1065fbc9cbcc61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8576deca27115deeadd67abc24b89ea9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/desktop_supplies/office_stationery/8597cb23040c51aea95127b7cf11d2ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/desktop_supplies/office_stationery/8647a348a0185b748fac613504e13bac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/86a44f5aa5ee59d69cbe0f44baacdf11.urdf

@@ -52,6 +52,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
    </custom_data>
 </robot>

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/affordance_annot.json

@@ -0,0 +1,172 @@
+{
+    "affordances": [
+        {
+            "part_name": "upper handle and main housing",
+            "mask_color": "Teal",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the upper handle/body to pick up and reposition the stapler/tacker",
+                    "confidence": 0.95
+                },
+                {
+                    "scenario": "press down on the upper body to drive a staple",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "lift the upper body relative to the base to access the loading area",
+                    "confidence": 0.8
+                }
+            ],
+            "functional_labels": [
+                "main grip surface",
+                "transmit pressing force",
+                "cover internal mechanism",
+                "support opening for loading"
+            ],
+            "semantic_description": "Large curved upper body in light gray with a black top grip panel, mostly matte plastic, forming the main handle above the base.",
+            "id": 10,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base",
+            "mask_color": "Navy",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the base from the sides to stabilize the stapler during use",
+                    "confidence": 0.8
+                },
+                {
+                    "scenario": "pick up the object by clamping the base when the top is obstructed",
+                    "confidence": 0.62
+                }
+            ],
+            "functional_labels": [
+                "support on desk",
+                "stabilize stapling",
+                "support workpiece at the bottom",
+                "house lower contact/anvil area"
+            ],
+            "semantic_description": "Long rectangular dark gray to black base with a smooth plastic finish and broad low profile along the bottom of the tool.",
+            "id": 13,
+            "grasp_group": {
+                "grasp_57": {
+                    "confidence": 0.9566388130187988,
+                    "position": [
+                        -0.0025311297504231334,
+                        0.014567796140909195,
+                        -0.17875428684055805
+                    ],
+                    "orientation": {
+                        "w": 0.9985259038551226,
+                        "xyz": [
+                            -0.034457272461635095,
+                            0.03020039318950518,
+                            0.029097284340880686
+                        ]
+                    }
+                },
+                "grasp_59": {
+                    "confidence": 0.9559181332588196,
+                    "position": [
+                        0.004228367586620152,
+                        0.02853422425687313,
+                        -0.17652890272438526
+                    ],
+                    "orientation": {
+                        "w": 0.9993145476862618,
+                        "xyz": [
+                            0.00032578931800516164,
+                            0.01212101995578796,
+                            0.034977271465252736
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "front stapling nose and staple-exit area",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "drive staples through material",
+                "contact material at stapling point",
+                "guide staple exit"
+            ],
+            "semantic_description": "Small front metal components under the head, dark and reflective, where staples exit and contact the material.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear top cap",
+            "mask_color": "Olive",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "cover rear upper end",
+                "protect housing corner",
+                "finish outer shell"
+            ],
+            "semantic_description": "Small cap-like section at the rear top of the housing, dark olive-black in appearance with a smooth matte plastic surface.",
+            "id": 14,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "rear push-pull knob",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch and pull the rear knob to manipulate the rear mechanism or adjust/load the magazine area",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "use the rear knob as a light secondary contact point while orienting the tool",
+                    "confidence": 0.3
+                }
+            ],
+            "functional_labels": [
+                "manual pull point",
+                "rear mechanism control",
+                "indicate rear orientation"
+            ],
+            "semantic_description": "Small rounded dark gray to black plastic knob protruding from the back of the tool, with a smooth matte finish.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "side hinge pivot",
+            "mask_color": "Jade",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "connect upper body to base",
+                "enable opening motion",
+                "act as pivot point"
+            ],
+            "semantic_description": "Small rounded pivot feature near the side joint between the upper body and base, colored dark gray and integrated into the side structure.",
+            "id": 19,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base trim strip",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "protect base edge",
+                "provide contact/wear edge",
+                "visually define the base perimeter"
+            ],
+            "semantic_description": "Thin strip detail along the outer base edge, visible as a slightly different dark tone from the main base and running near the bottom perimeter.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part names/functions mismatch visible parts; front mechanism mislabeled as stapling nose, base trim and rear knob descriptions are inaccurate."
+    }
+}

dataset/desktop_supplies/office_stationery/86a44f5aa5ee59d69cbe0f44baacdf11/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c72736871a0b1239a989ba786c3ec5a7152509939c26b6bbf6c6f5b6d6762ab
+size 1880928